Asymptotic stabilization via control by interconnection of port-Hamiltonian systems
Por:
Castaños F., Ortega R., van der Schaft A., Astolfi A.
Publicada:
1 ene 2009
Resumen:
We study the asymptotic properties of control by interconnection, a passivity-based controller design methodology for stabilization of port-Hamiltonian systems. It is well-known that the method, in its basic form, imposes some unnatural controller initialization to yield asymptotic stability of the desired equilibrium. We propose two different ways to overcome this restriction, one based on adaptation ideas, and the other one adding an extra damping injection to the controller. The analysis and design principles are illustrated through an academic example. © 2009 Elsevier Ltd. All rights reserved.
Filiaciones:
Castaños F.:
Laboratoire des Signaux et Systèmes, Supelec 3 rue Joliot Curie, 91192 Gif-sur-Yvette, France
Ortega R.:
Laboratoire des Signaux et Systèmes, Supelec 3 rue Joliot Curie, 91192 Gif-sur-Yvette, France
van der Schaft A.:
Department of Mathematics, University of Groningen, PO Box 800, 9700 AV Groningen, Netherlands
Astolfi A.:
Electrical Engineering Department, Imperial College London, Exhibition Road, London, SW7 2BT, United Kingdom
DISP, University of Roma, Tor Vergata Via del Politecnico 1, 00133 Rome, Italy
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